/**
 * @file obj_data.c
 * @author YangSL (dalin@main.com)
 * @brief 对象字典定义文件
 * @version 0.0.1
 * @date 2022-09-28
 * 
 * @copyright Copyright (c) 2022
 * 
 */
#include "obj_data.h"
#include "data.h"

/*variable define*/
/* SDO对象字典定义 */
static sSDO_OBJ mc_sdo_map_obj[] = 
{
   {0x2000,0x01,sizeof(test_data1),                      CAN_WO, (uint8_t*)&com_data.test1,  NULL,test1_write_CanSlot}, /* 段下载快传测试 */
   {0x2000,0x02,sizeof(test_data2),                      CAN_WO, (uint8_t*)&com_data.test2,  NULL,test2_write_CanSlot}, /* 分段测试 */
   {0x2000,0x03,sizeof(test_data3),                      CAN_WO, (uint8_t*)&com_data.test3,  NULL,test3_write_CanSlot}, /* 块传输测试 */
   {0x2000,0x04,sizeof(test_data1),                      CAN_WO, (uint8_t*)&com_data.test1,  test4_read_CanSlot,NULL},  /* 段上传快传测试 */
   {0x2000,0x05,sizeof(test_data2),                      CAN_WO, (uint8_t*)&com_data.test2,  test5_read_CanSlot,NULL},  /* 分段上传*/

   {0x2000,0x06,sizeof(test_data1),                      CAN_WO, (uint8_t*)&com_data.test1,  test6_read_CanSlot,NULL},  /* 段快上传 （客户端）*/
   {0x2000,0x07,sizeof(test_data4),                      CAN_WO, (uint8_t*)&com_data.test4,  NULL,test7_write_CanSlot},  /* 分段上传 （客户端）*/
   {0,0,0,0,NULL,NULL,NULL}
};

/* PDO对象字典定义 */
static sPDO_OBJ mc_pdo_obj[] = 
{
    {0x181,8,&mc_pdo_data[0],mc_pdo_write_01},
    {0x182,8,&mc_pdo_data[8],mc_pdo_write_02},
    {0x183,2,&mc_pdo_data[16],mc_pdo_write_03},
    {0x281,8,&mc_pdo_data[18],mc_pdo_write_04},
    {0x282,8,&mc_pdo_data[26],mc_pdo_write_05},
    {0x283,8,&mc_pdo_data[34],mc_pdo_write_06},
    {0x381,8,&mc_pdo_data[42],mc_pdo_write_07},
    {0x382,8,&mc_pdo_data[50],mc_pdo_write_08},
    {0x383,1,&mc_pdo_data[58],mc_pdo_write_09},
    {0x384,8,&mc_pdo_data[59],mc_pdo_write_10},
    {0,0,NULL,NULL}
};


sComponent_OBJ  comm_data_map_obj[e_comp_max] = 
{
    {
      CUR_MASTER_ID,
      mc_sdo_map_obj,
      mc_pdo_obj,
    }
};


uint8_t pdo_obj_len[e_comp_max] = {0};
uint16_t sdo_obj_len[e_comp_max] = {0};
uint16_t comp_id[COMP_NUMS] = {CUR_MASTER_ID};

void obj_data_init(void)
{
    int i = 0 ;
    int len = 0 ;
    sSDO_OBJ *sdo_obj = comm_data_map_obj[e_comp_mc].sdo_obj ;  
    sPDO_OBJ *pdo_obj = comm_data_map_obj[e_comp_mc].pdo_obj ; 
    for(i = 0 ;0 != sdo_obj[i].index && 0 != sdo_obj[i].subindex;i++)
    {
        len ++ ;
    }
    sdo_obj_len[e_comp_mc] = len ;
    len = 0 ;
    for(i = 0 ;0 != pdo_obj[i].m_fun_id && 0 != pdo_obj[i].frame_len;i++)
    {
        len ++ ;
    }
    pdo_obj_len[e_comp_mc] = len ;
}

void can_protocol_init(void)
{
    can_obj_init();
    obj_data_init();    
}



/* CRC16高字节表 */
static const uint8_t crcHighTable[] = {
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40
};

/* CRC16低字节表 */
static const uint8_t crcLowTable[] = {
    0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
    0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
    0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
    0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
    0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
    0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
    0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
    0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
    0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
    0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
    0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
    0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
    0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
    0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
    0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
    0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
    0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
    0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
    0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
    0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
    0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
    0x41, 0x81, 0x80, 0x40
};

/**
 * @brief 查表法计算CRC16
 * 
 * @param data          数据
 * @param len           数据长度
 * @return uint16_t     CRC16
 */
uint16_t crc16(uint8_t *data, uint32_t len)
{
    uint8_t crcHigh = 0xFF;
    uint8_t crcLow = 0xFF;
    uint32_t index;
    
    while( len-- )
    {
        index = crcLow ^ *data++;
        crcLow = crcHigh ^ crcHighTable[index];
        crcHigh = crcLowTable[index];
    }
    
    return (uint16_t) (crcHigh << 8) | crcLow;
}

